Yes this is correct. You can choose custom permalink the way you want. But it is limited to these official tags only.
And %post_id% is one of those tags so you can use it.
Just a note here you need to end the custom structure with post ID or name as codex says
Make sure to end your structure with either
%post_id%or%postname%
(e.g./%year%/%monthnum%/%day%/%postname%/) so that each permalink
points to an individual post.